Add synced ZED SVO grid exporter

include/cvmmap_streamer/tools/zed_svo_mp4_support.hpp

@@ -0,0 +1,117 @@
+#pragma once
+
+#include "cvmmap_streamer/config/runtime_config.hpp"
+
+#include <cstdint>
+#include <expected>
+#include <filesystem>
+#include <memory>
+#include <string>
+#include <string_view>
+
+namespace cvmmap_streamer::zed_tools {
+
+using cvmmap_streamer::CodecType;
+using cvmmap_streamer::EncoderDeviceType;
+
+inline constexpr std::uint32_t kDefaultGopSize = 30;
+inline constexpr std::uint32_t kDefaultBFrames = 0;
+inline constexpr int kDefaultQuality = 23;
+inline constexpr std::uint64_t kNanosPerSecond = 1'000'000'000ull;
+
+enum class PresetKind : std::uint8_t {
+	Fast,
+	Balanced,
+	Quality,
+};
+
+enum class TuneKind : std::uint8_t {
+	LowLatency,
+	Balanced,
+};
+
+struct EncodeTuning {
+	PresetKind preset{PresetKind::Fast};
+	TuneKind tune{TuneKind::LowLatency};
+	int quality{kDefaultQuality};
+	std::uint32_t gop{kDefaultGopSize};
+	std::uint32_t b_frames{kDefaultBFrames};
+};
+
+[[nodiscard]]
+std::expected<CodecType, std::string> parse_codec(std::string_view raw);
+
+[[nodiscard]]
+std::expected<EncoderDeviceType, std::string> parse_encoder_device(std::string_view raw);
+
+[[nodiscard]]
+std::expected<PresetKind, std::string> parse_preset(std::string_view raw);
+
+[[nodiscard]]
+std::expected<TuneKind, std::string> parse_tune(std::string_view raw);
+
+[[nodiscard]]
+std::string_view codec_name(CodecType codec);
+
+[[nodiscard]]
+std::string_view preset_name(PresetKind preset);
+
+[[nodiscard]]
+std::string_view tune_name(TuneKind tune);
+
+[[nodiscard]]
+std::uint64_t frame_period_ns(float fps);
+
+[[nodiscard]]
+std::filesystem::path derive_output_path(const std::filesystem::path &input_path);
+
+class ProgressBar {
+public:
+	explicit ProgressBar(std::uint64_t total_frames);
+	~ProgressBar();
+
+	void update(std::uint64_t completed_frames);
+	void finish(std::uint64_t completed_frames, bool success);
+
+private:
+	struct Impl;
+	std::unique_ptr<Impl> impl_{};
+};
+
+class Mp4Writer {
+public:
+	Mp4Writer();
+	Mp4Writer(const Mp4Writer &) = delete;
+	Mp4Writer &operator=(const Mp4Writer &) = delete;
+	Mp4Writer(Mp4Writer &&) noexcept;
+	Mp4Writer &operator=(Mp4Writer &&) noexcept;
+	~Mp4Writer();
+
+	[[nodiscard]]
+	std::expected<void, std::string> open(
+		const std::filesystem::path &output_path,
+		CodecType codec,
+		EncoderDeviceType encoder_device,
+		std::uint32_t width,
+		std::uint32_t height,
+		float fps,
+		const EncodeTuning &tuning);
+
+	[[nodiscard]]
+	std::expected<void, std::string> write_bgr_frame(
+		const std::uint8_t *data,
+		std::size_t row_stride_bytes,
+		std::uint64_t relative_timestamp_ns);
+
+	[[nodiscard]]
+	std::expected<void, std::string> flush();
+
+	[[nodiscard]]
+	bool using_hardware() const;
+
+private:
+	struct Impl;
+	std::unique_ptr<Impl> impl_{};
+};
+
+}  // namespace cvmmap_streamer::zed_tools